#ifndef _BSP_CAN_H_
#define _BSP_CAN_H_


#include "can.h"

typedef struct
{
    uint16_t can_id;
    int16_t  set_voltage;
	   int16_t  set_voltage2;
    uint16_t rotor_angle;
    int16_t  rotor_speed;
    int16_t  current;
    uint8_t  temp;
	  uint16_t  last_angle;
	  uint16_t  motor_angle_eer;
	  uint16_t  total_angle;
	
}moto_info_t;

void can_user_init(CAN_HandleTypeDef* hcan );
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan);
void bsp_candianliu(uint16_t speed);
#endif
